Controllability of consensus heterogeneous multi-agent networks over continuous time scale (Q6556612)

This work studies the problem of controllability for multi-agent network with a directed, unweighted, cooperative, and time-invariant communication topology. Two forms of neighbour-based control protocols are considered. Algebraic criteria for controllability are derived. Given the nature of the topic, a solid background is required on linear systems, linear algebra, control theory, and multi-agent networks. From the reviewer's perspective, despite the strong background required, this work is highly readable and very approachable for its respective audience. It is also heavily accompanied by many numerical examples, which significantly help the reader understand the developments in the paper.